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/* SPDX-License-Identifier: BSD-2-Clause */
/**
* @file
*
* @ingroup CANBus
*
* @brief Controller Area Network (DCAN) Controller Implementation
*
*/
/*
* Copyright (C) 2022 Prashanth S (fishesprashanth@gmail.com)
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*/
#ifndef _BSP_AM335X_CAN_H
#define _BSP_AM335X_CAN_H
#include <stdio.h>
#include <dev/can/can.h>
#include <bsp.h>
#define CAN_NODES 2
#define CAN_NUM_OF_MSG_OBJS (0x40)
#define CAN_RX_MSG_OBJ_NUM (0x20)
#define CAN_TX_MSG_OBJ_NUM (0x20)
#define CAN_EXT_MSG (0x00000001)
#define CAN_TX_MSG_OBJ_START_NUM ((CAN_NUM_OF_MSG_OBJS / 2) + 1)
#define CAN_TX_MSG_OBJ_END_NUM (CAN_NUM_OF_MSG_OBJS)
#define CAN_RX_MSG_OBJ_START_NUM (1)
#define CAN_RX_MSG_OBJ_END_NUM (CAN_NUM_OF_MSG_OBJS / 2)
#define DCAN_IFCMD_MSG_NUM_SHIFT (0) /* Bits 0-7: Number of message object in message RAM which is used for data transfer */
#define DCAN_IFCMD_MSG_NUM_MASK (0xff << DCAN_IFCMD_MSG_NUM_SHIFT)
#define DCAN_IFCMD_MSG_NUM(n) (((unsigned int)(n) & DCAN_IFCMD_MSG_NUM_MASK) << DCAN_IFCMD_MSG_NUM_SHIFT)
#define CONTROL_STATUS_SYSBOOT1_MASK (3 << CONTROL_STATUS_SYSBOOT1_SHIFT)
#define CONTROL_STATUS_SYSBOOT1_19p2MHZ (0 << CONTROL_STATUS_SYSBOOT1_SHIFT)
#define CONTROL_STATUS_SYSBOOT1_24MHZ (1 << CONTROL_STATUS_SYSBOOT1_SHIFT)
#define CONTROL_STATUS_SYSBOOT1_25MHZ (2 << CONTROL_STATUS_SYSBOOT1_SHIFT)
#define CONTROL_STATUS_SYSBOOT1_26MHZ (3 << CONTROL_STATUS_SYSBOOT1_SHIFT)
#define CONFIG_AM335X_CAN_TSEG1 6
#define CONFIG_AM335X_CAN_TSEG2 1
#define CAN_BIT_QUANTA (CONFIG_AM335X_CAN_TSEG1 + CONFIG_AM335X_CAN_TSEG2 + 1)
#define CAN_CLOCK_FREQUENCY (am335x_get_sysclk())
struct am335x_dcan_irq {
uint32_t dcan_intr0;
uint32_t dcan_intr1;
uint32_t dcan_parity;
};
struct am335x_dcan_priv {
uint32_t node;
uint32_t base_reg;
uint32_t baudrate;
struct can_bus *bus;
struct am335x_dcan_irq irq;
};
int dcan_init(struct am335x_dcan_priv *dcan_priv);
void beagle_can_init(void *node);
void dcan_init_ops(struct am335x_dcan_priv *priv);
#define can_putreg(priv, off, val) \
do { \
REG(priv->base_reg + off) = val; \
CAN_DEBUG_REG("%s:%d %08x<-%08x\n", __FILE__, __LINE__, priv->base_reg + off, val); \
} while (0)
static inline uint32_t can_getreg(struct am335x_dcan_priv *priv, uint32_t off)
{
CAN_DEBUG_REG("can_getreg 0x%08x = 0x%08x\n", priv->base_reg + off,
REG(priv->base_reg + off));
return REG(priv->base_reg + off);
}
#endif /* _BSP_AM335X_CAN_H */
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